Yes, this is fairly simple to sort out.
First step, enable the printing in google chrome.
Click on the little lines on the top right, settings, show advanced options, then manage printers, and add your printer.
The second step, download and install the Google cloud print app on your device (it does not come installed on my Nexus 7 automatically, or my wife's Galaxy note 3 or 8 nor my S4.
This is one of the most easy to miss steps:
Once installed, go to system settings(Android OS), more networks, printing, and ENABLE Cloud print as it will still be marked as OFF.